Trajectory Planning of Energy Consumption Optimal Redundant Manipulators with Constraints

Aiming at the problem of how to reduce the complexity of trajectory optimization of redundant or super-redundant manipulators， a constrained energy consumption optimal manipulator trajectory planning method is proposed. The dynamics of the redundant manipulator are modeled based on lagrange dynamics...

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Detalhes bibliográficos

Principais autores:	Yuanfei Zhou, Haitao Tang
Formato:	Artigo
Idioma:	Chinês
Publicado em:	Editorial Office of Journal of Mechanical Transmission 2022-08-01
coleção:	Jixie chuandong
Assuntos:	Redundant manipulators Optimal trajectory planning Energy consumption optimization Constraint processing Cost function
Acesso em linha:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.08.005
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